CN110362109A - A kind of cross-domain shutdown library landing method of unmanned plane and landing platform - Google Patents
A kind of cross-domain shutdown library landing method of unmanned plane and landing platform Download PDFInfo
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Abstract
The invention discloses a kind of round-the-clock cross-domain shutdown library landing methods of unmanned plane, this method first guides unmanned plane to airspace above shutdown library, in the case where visibility height, the pictorial pattern shut down above the landing platform of library is identified using Visible Light Camera, if unidentified arrive pictorial pattern, then flying height rises, Visible Light Camera identifies larger-size shutdown library, guidance unmanned plane during flying is to the surface for shutting down library and starts landing, the pictorial pattern above identification landing platform is reopened in descent more accurately to land to realize, if recognizing pictorial pattern, then landed using head telltale mark and level point label, in the case where low visibility, using the infrared beacon placed below infrared camera identification landing platform, unmanned plane is guided to execute the adjustment of head and the landing of unmanned plane, visible light melts with infrared image The mode for closing analysis realizes the round-the-clock precisely reliable of unmanned plane.This method can satisfy the demand of the round-the-clock strange land landing of unmanned plane.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical field more particularly to a kind of cross-domain shutdown library landing method of unmanned plane and drops
Fall platform.
Background technique
UAV, abbreviation unmanned plane, unmanned plane, can autonomous flight remote control operations, air because it is not necessarily to driver
Power carrying flight repeats the advantages that recycling uses by broad development.It is widely used in military affairs, and public security is agriculture, and electric power patrols
Line, forest fire protection etc. carry different mission payloads according to task difference, can be completed according to planning various
Task.
Task ability greatly reduces due to the limitation of its endurance distance and time in existing unmanned plane.In order to improve
Cruising ability, unmanned plane charging be a relatively simple solution, and in order to realize charging, task process it is full-automatic
Change, the accurate landing of unmanned plane is an indispensable ring.
Unmanned plane landing uses expensive RTK (Real-time kinematic) scheme, or passes through image recognition algorithm
Takeoff setting feature is saved, drops to takeoff point again, can not achieve strange land landing.In the landing of strange land, variation
Environmental factor makes strange land landing more difficult.
Summary of the invention
The object of the present invention is to provide a kind of cross-domain shutdown library landing method of unmanned plane and landing platform, this kind of unmanned plane drops
The method of falling can satisfy the demand of unmanned plane strange land landing.
To solve the above problems, the technical solution of the present invention is as follows:
A kind of cross-domain shutdown library landing method of unmanned plane, comprising the following steps:
The unmanned plane is directed to wait the top airspace for shutting down library of landing, and drops to the first preset height；
The unmanned plane starts to identify the pictorial pattern in the shutdown library landing plane in the first preset height, if described
Unmanned plane recognizes the pictorial pattern, thens follow the steps S1, step S2；
If the unmanned plane is unidentified to arrive the pictorial pattern, and low visibility of judging to land in threshold range or
Dense fog prompt is obtained from cloud or hangar system, thens follow the steps A1, step A2, step A3, step A4；
If the unmanned plane cannot recognize the pictorial pattern, and judge that landing visibility is higher than threshold range,
Then the drone flying height rises, and identifies the shutdown library, the unmanned plane during flying to the center for shutting down library
Point position is mobile and starts landing, and the unmanned plane, which is drop to, to be started to identify the pictorial pattern lower than the first preset height, if
The unmanned plane recognizes the pictorial pattern, then executes the step S1, the step S2；
The step S1, the step S2 specifically:
S1: the unmanned plane identifies the head telltale mark on the airplane parking area for shutting down library, and fixed according to the head
Position label adjusts the heading of the unmanned plane；
S2: the unmanned plane identifies that the level point on the airplane parking area marks, and marks and land towards the level point；
The step A1, the step A2, the step A3, the step A4 specifically:
A1: the unmanned plane opens infrared markers identification module；
A2: the infrared identification module identifies the infrared location feature pattern on the airplane parking area, and the infrared positioning is special
Levying pattern includes landing guiding infrared markers information and the infrared location information of auxiliary；
A3: the unmanned plane adjusts the heading of the unmanned plane according to the infrared location feature pattern；
A4: the unmanned plane executes landing referring to the infrared location information of auxiliary.
An embodiment according to the present invention, the drone flying height rise, and during identifying the shutdown library,
If the unmanned plane rises to the second preset height and does not recognize the shutdown library yet, the unmanned plane look for home into
Row landing, and landing warning information is sent to cloud.
An embodiment according to the present invention, the infrared location feature pattern includes infrared oriented array, the infrared positioning
Array includes landing guiding infrared markers point and auxiliary infrared positioning point, and the landing guiding infrared markers information includes described
Landing guiding infrared markers point, the infrared location information of auxiliary include auxiliary infrared positioning point.
An embodiment according to the present invention, the unmanned plane adjust the unmanned plane according to the infrared location feature pattern
Heading specifically includes:
B1: the unmanned plane shoots the picture of the infrared oriented array, calculates the infrared point of the infrared oriented array
Arrangement；
B2: the head of the unmanned plane is adjusted into the arrangement of the infrared point in correct situation and the infrared point in the step B1
Arrangement compare；
B3: if the comparison result in the step B2 is in error range, determine the heading tune of the unmanned plane
It is whole correct；Otherwise the heading of the unmanned plane is readjusted.
Based on same idea, the present invention also provides a kind of unmanned plane landing platform, set on the unmanned plane landing platform
There are head telltale mark, multiple level points label, direction of the head telltale mark for unmanned plane adjustment head is more
A level point label is for guiding the unmanned plane to land, wherein multiple level points are labeled as the drop of weighted
Drop point label.
An embodiment according to the present invention is additionally provided with infrared location feature pattern on the unmanned plane landing platform, described red
Outer location feature pattern includes landing guiding infrared markers information and the infrared location information of auxiliary；
Direction of the infrared location feature pattern for unmanned plane adjustment head；
The landing guiding infrared markers information is for guiding the unmanned plane to land.
An embodiment according to the present invention, the head telltale mark are the first pattern recognition unit, the level point label
For the second pattern recognition unit, the size of first pattern recognition unit is greater than the size of second pattern recognition unit.
An embodiment according to the present invention, the infrared location feature pattern includes infrared oriented array, the infrared positioning
Array includes landing guiding infrared markers point and auxiliary infrared positioning point, and the landing guiding infrared markers information includes described
Landing guiding infrared markers point, the infrared location information of auxiliary include auxiliary infrared positioning point.
An embodiment according to the present invention, the landing guiding infrared markers point is set to the level point of the unmanned plane, described
Infrared positioning point is assisted to include at least the first auxiliary magnet, the second auxiliary magnet, the infrared location information of auxiliary is drawn with the landing
The geometric figure constituted between infrared markers point is led for unmanned plane landing heading adjustment.
An embodiment according to the present invention, the landing guiding infrared markers point, the auxiliary infrared positioning point are infrared
Light emitting device.
The present invention due to using the technology described above, makes it have the following advantages that and actively imitate compared with prior art
Fruit:
Existing unmanned plane landing scheme or RTK (Real-time kinematic) scheme using valuableness, or pass through figure
As recognizer saves takeoff setting feature, takeoff point is dropped to again, can not achieve strange land landing.Land in strange land
In, the environmental factor of variation makes strange land landing more difficult, and the unmanned plane landing method provided in one embodiment of the invention is logical
It crosses identification to shut down library, the pictorial pattern on shutdown library, judge state of visibility, different landing sides is selected according to state of visibility
Case, specifically, the unmanned plane landing method provided in one embodiment of the invention first guides unmanned plane to sky above shutdown library
Domain preferentially identifies pictorial pattern, if unidentified arrive pictorial pattern, flying height rises, starts to identify larger-size shutdown
Then library flies to the surface for shutting down library and starts landing, reopen identification pictorial pattern in descent to realize
More accurately land, if recognizing pictorial pattern, is landed using head telltale mark and level point label, if not knowing yet
Be clipped to pictorial pattern, then in the case where low visibility preferentially using infrared signal guiding by the way of execute head adjustment and
The landing of unmanned plane can adapt to the case where round-the-clock strange land of unmanned plane is landed in this way.
Detailed description of the invention
Fig. 1 is a kind of cross-domain flow chart for shutting down library landing method of unmanned plane of the invention；
Fig. 2 is the flow chart of step S1, step S2；
Fig. 3 is the flow chart of step A1 to step A4；
Fig. 4 is the flow chart for the heading that unmanned plane adjusts unmanned plane according to infrared location feature pattern.
Specific embodiment
Below in conjunction with the drawings and specific embodiments to a kind of cross-domain shutdown library landing method of unmanned plane proposed by the present invention and
Landing platform is described in further detail.According to following explanation and claims, advantages and features of the invention will be become apparent from.
Embodiment 1
Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of cross-domain shutdown library landing method of unmanned plane, comprising the following steps:
Unmanned plane is directed to the top airspace for shutting down library, and drops to the first preset height；
Unmanned plane can be guided by positioning systems such as GPS positioning system, BEI-DOU position system, GLONASS positioning systems to
The airspace of landing, or guided unmanned plane to the top airspace for shutting down library, the first default height by GNS (GPS+GLONASS)
Degree is that cruise-in altitude is specifically as follows 8.5 meters, 10 meters, 15 meters etc.；Can be equipped with Visible Light Camera on unmanned plane, while unmanned plane
It also supports to carry infrared camera.
Unmanned plane starts the pictorial pattern on identification shutdown library in the first preset height, if unmanned plane recognizes graphic diagram
Case thens follow the steps S1, step S2；Otherwise drone flying height rises, and shuts down library based on machine learning algorithm identification,
Hangar accurately identifies height up to 30 meters or higher, it is ensured that is still able to guide nothing in the case where GPS signal is extremely bad
Man-machine flight is to the surface for shutting down library and starts landing；The concrete form of pictorial pattern therein can be photo, picture, word
The forms such as female, number, different size annulus, bar code, regions of different colours.
Unmanned plane drop to the pictorial pattern started on identification shutdown library lower than the first preset height, if unmanned plane recognizes
Pictorial pattern thens follow the steps S1, step S2；
If unmanned plane is unidentified to arrive pictorial pattern, and judges that landing low visibility is prompted in threshold range or dense fog,
Then follow the steps A1, step A2, step A3, step A4；
It is can determine whether out to land the visual condition (whether light is sufficient) of environment according to state of visibility, it is under normal circumstances, white
Its visual condition can be relatively good, it is believed that landing visibility at this time is higher than threshold range, and night or cloudy visual condition can compare
Difference thinks that landing low visibility at this time in threshold range, specifically can shoot several figures by the airborne camera of unmanned plane
Picture judges landing visibility according to the average gray of image.
If unmanned plane recognizes pictorial pattern, and judges that landing visibility is higher than threshold range, then unmanned plane direction
It shuts down the center position movement in library and starts landing；
Referring to Fig. 2, step S1, step S2 specifically:
S1: the head telltale mark on the airplane parking area in library is shut down in unmanned plane identification, and adjusts nothing according to head telltale mark
Man-machine heading；
The corresponding hangar charging system of unmanned plane in the present invention, unmanned plane machine charging terminal contact charging with hangar,
Cathode and anode directions needs are asked to be absolutely correct, after only unmanned plane is berthed with correct direction, just can smoothly connect with the mains charging, because
The direction of this head in unmanned plane descent is extremely important.
S2: unmanned plane identifies the level point label on airplane parking area, and marks and land towards level point；
Specifically, level point label can be made of multiple pattern recognition units, and multiple pattern recognition units can have not
Same guiding weight, if unmanned plane only identifies a pattern recognition unit as level point label, according to the pattern
The guiding of recognition unit is landed, if unmanned plane identifies multiple pattern recognition units as level point label, judges to weigh
The maximum pattern recognition unit of weight, lands according to the guiding of the pattern recognition unit later.It should be noted that pattern identification list
Member itself can include corresponding pattern-information, and unmanned plane recognizes pattern recognition unit and refers to that unmanned plane obtains pattern identification list
Pattern-information in member, pattern-information may include: the type of pattern recognition unit, the position of pattern recognition unit, pattern knowledge
The weight etc. of other unit.
Referring to Fig. 3, step A1, step A2, step A3, step A4 specifically:
A1: unmanned plane opens infrared markers identification module；It is specifically as follows infrared camera or infrared signal receiver；
A2: infrared identification module identifies that the infrared location feature pattern on airplane parking area, infrared location feature pattern include drop
Fall guiding infrared markers information and the infrared location information of auxiliary；Infrared location feature pattern includes infrared oriented array, infrared
Oriented array includes landing guiding infrared markers point and auxiliary infrared positioning point, and landing guiding infrared markers information includes landing
Infrared markers point is guided, assisting infrared location information includes auxiliary infrared positioning point.Before adjusting heading, unmanned plane to
It shuts down library and sends the signal for opening the auxiliary infrared positioning point in infrared oriented array.Landing guiding infrared markers point, auxiliary are red
Outer anchor point is infrared light-emitting device, such as the LED light of hair infrared light, or existing infrared transmitter.It is infrared fixed
Position characteristic pattern can cover the pattern including specific features such as all size, shape, content, code system/agreement, arrangement/distributions.
A3: unmanned plane adjusts the heading of unmanned plane according to infrared location feature pattern；
Referring to Fig. 4, further, unmanned plane is specifically wrapped according to the heading that infrared location feature pattern adjusts unmanned plane
It includes:
B1: unmanned plane shoots the picture of infrared location feature pattern, calculates the row of the infrared point of infrared location feature pattern
Cloth；
B2: the head of unmanned plane is adjusted to the arrangement ratio of the arrangement and the infrared point in step B1 of the infrared point in correct situation
It is right；
B3: if the comparison result in step B2 is in error range, determine that the heading adjustment of unmanned plane is correct；It is no
Then readjust the heading of unmanned plane.
It should be noted that infrared oriented array has certain shape, in the accurate situation of unmanned plane heading,
Shooting infrared oriented array arrangement be it is fixed, therefore, in order to avoid the infrared positioning battle array shot under head bias state
Column are identical as the infrared oriented array arrangement in correct situation, and infrared oriented array should be asymmetrical array, for example, " L "
Shape array has a series of irregular graphic arrays such as the Polygonal arrays that can recognize characteristic point etc..
A4: unmanned plane should be located at nothing towards landing guiding infrared markers information landing, landing guiding infrared markers information
The middle position of man-machine airplane parking area, the middle position do not refer specifically to airplane parking area center, it should be proximate to or be located at unmanned plane charging
Region.After heading adjustment is correct, unmanned plane can also be auxiliary in the infrared oriented array of library transmission closing to shutting down
Help the signal of infrared positioning point；After heading adjustment is correct, unmanned plane can start to land, if infrared markers point is opened
Excessively, then it may interfere with the landing of unmanned plane, it is therefore desirable to close the auxiliary infrared positioning point in infrared oriented array.
Existing unmanned plane landing scheme or RTK (Real-time kinematic) scheme using valuableness, or pass through figure
As algorithm saves takeoff setting feature, takeoff point is dropped to again, can not achieve strange land landing.In the landing of strange land,
The environmental factor of variation makes strange land landing more difficult, and the unmanned plane landing method provided in one embodiment of the invention passes through knowledge
Not Ting Ji library, shut down library on pictorial pattern, judge state of visibility, different landing schemes is selected according to state of visibility,
Specifically, the unmanned plane landing method provided in one embodiment of the invention first guides unmanned plane to airspace above shutdown library,
Preferential identification pictorial pattern, if unidentified arrive pictorial pattern, flying height rises, starts to identify larger-size shutdown library,
Then it flies to the surface for shutting down library and starts landing, it is more smart to realize that identification pictorial pattern is reopened in descent
Quasi- landing is landed, if not recognizing yet if recognizing pictorial pattern using head telltale mark and level point label
Pictorial pattern, then in the case where low visibility preferentially using infrared signal guiding by the way of execute head adjustment and nobody
The landing of machine, in the case where visibility height, unmanned plane is mobile towards the center position for shutting down library and starts landing, such energy
The case where enough adapting to the landing of unmanned plane strange land.
Further, drone flying height rise, and identify shut down library during, if unmanned plane rises to second
Preset height does not recognize yet shuts down library, then unmanned plane looks for home and lands, and sends landing warning information to cloud
End；Second preset height can be 13 to 30 meters or higher.
Embodiment 2
Based on identical design, the present invention also provides a kind of unmanned plane landing platform, unmanned plane landing platform is equipped with
Head telltale mark, multiple level points label, direction of the head telltale mark for unmanned plane adjustment head, multiple level point marks
Note is for guiding unmanned plane to land, wherein multiple level points are marked labeled as the level point of weighted.
Further, infrared location feature pattern is additionally provided on unmanned plane landing platform, infrared location feature pattern includes
Landing guiding infrared markers information and the infrared location information of auxiliary；Infrared location feature pattern is for unmanned plane adjustment head
Direction；Landing guiding infrared markers information is for guiding unmanned plane to land.
Specifically, infrared location feature pattern includes infrared oriented array, and infrared oriented array includes that landing guiding is infrared
Mark point and auxiliary infrared positioning point, landing guiding infrared markers information include landing guiding infrared markers point, are assisted infrared
Location information includes auxiliary infrared positioning point.Before adjusting heading, unmanned plane sends the infrared positioning of opening to library is shut down
The signal of auxiliary infrared positioning point in array.Landing guiding infrared markers point, auxiliary infrared positioning point are infraluminescence dress
It sets, such as the LED light of hair infrared light, or existing infrared transmitter.Infrared location feature pattern can cover including
The pattern of the specific features such as all size, shape, content, code system/agreement, arrangement/distribution.
Landing guiding infrared markers point is set to the level point of unmanned plane, and auxiliary infrared positioning point includes at least the first auxiliary
Point, the second auxiliary magnet assist the geometric figure constituted between infrared location information and landing guidance infrared markers point for nobody
Machine landing heading adjustment.It should be noted that infrared oriented array has certain shape, it is quasi- in unmanned plane heading
Really in the case where, the arrangement of the infrared oriented array of shooting be it is fixed, therefore, in order to avoid what is shot under head bias state
Infrared oriented array is identical as the infrared oriented array arrangement in correct situation, and infrared oriented array should be asymmetrical battle array
Column, for example, L shape array, has a series of irregular graphic arrays such as the Polygonal arrays that can recognize characteristic point etc..
Further, head telltale mark is the first pattern recognition unit, and level point is labeled as the second video identification code list
Member, the size of the first image identification unit are greater than the size of the second image identification unit.Second image identification unit is a variety of figures
The combination of case, with the landing of unmanned plane, the design for the new small size that can constantly identify, later further according to small size
The second pattern recognition unit carry out more accurate landing positioning.
Unmanned plane landing platform in the present embodiment can be used as the ancillary equipment of the unmanned plane landing method in embodiment 1.
In conjunction with the embodiments 1, concrete application is as follows:
In the practical descent of unmanned plane, when unmanned plane reach a certain height, identified by computer vision algorithms make
Specific first pattern recognition unit, and determine the direction of head, by corresponding algorithm process, adjusts head direction and guide nothing
Man-machine stable landing.
When unmanned plane reach a certain height, the second pattern recognition unit is identified by computer vision algorithms make.It is identifying
And during landing, the pattern set in the second pattern recognition unit is identified, is constantly reduced along with descent altitude,
Constantly close to landing platform, identification process also gradually refines, is detail.Reach the Centimeter Level of landing by the identification to details
Positioning accuracy.
In the practical descent of unmanned plane, infrared location feature pattern can be at the bad weathers such as greasy weather, rainy day and night
Guidance unmanned plane accurately land, make unmanned plane under various complex environments can all-weather safety, steadily land.
Infrared module array is located at landing plate lower layer, and it is flat that the infrared light that infraluminescence equipment issues can penetrate landing
Plate, and received by the infrared receiving set on unmanned plane.Infrared module array, with specific position arranged distribution.Unmanned plane is taken the photograph
As head is by the picture of shooting infrared array, calculates between infrared components point apart from length and arrangement, dropped with correct head
The comparison of infrared scan distribution situation is fallen, if in error range, determining that landing orientation is correct, otherwise adjusting posture and drop again
It falls.
After head adjustment, auxiliary infrared LED lamp will be turned off, and only retain an infrared LED guidance landing, and unmanned plane can be sent
Signal tells hangar head to adjust in place to hangar, and hangar makes corresponding control after receiving, and return signal gives nobody
Machine obtains auxiliary infrared array and is turned off signal, completes next descent.
The effect for shutting down library landing method cross-domain to unmanned plane provided by the invention makees some supplementary explanations below.
The cross-domain shutdown library landing method of unmanned plane disclosed by the invention, this method can pass through GNS (GPS+GLONASS) first
Unmanned plane is guided to wait land and shuts down airspace above library, it is preferential using carrying on unmanned plane in the case where visibility height
The pictorial pattern above the landing platform of library is shut down in Visible Light Camera identification, if unidentified arrive above-mentioned pictorial pattern, flying height
Rise, still identify larger-size shutdown library using the Visible Light Camera carried on unmanned plane, guidance unmanned plane during flying is extremely shut down
The surface in library simultaneously starts landing, and the pictorial pattern reopened above identification landing platform in descent is more smart to realize
Quasi- landing is landed if recognizing pictorial pattern using head telltale mark and level point label, in low visibility or
It is preferential using the infrared beacon placed below the infrared camera carried on unmanned plane identification landing platform in the case where greasy weather, draw
It leads unmanned plane and executes the adjustment of head and the landing of unmanned plane, it is seen that the mode of light and infrared image convergence analysis realizes
Unmanned plane it is round-the-clock precisely reliable.This unmanned plane landing method does not depend on unmanned plane takeoff point GNS coordinate, can satisfy nothing
The demand of man-machine round-the-clock strange land landing.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode.Even if to the present invention, various changes can be made, if these variations belong to the model of the claims in the present invention and its equivalent technologies
Within enclosing, then still fall within the protection scope of the present invention.
Claims (10)
1. a kind of cross-domain shutdown library landing method of unmanned plane, which comprises the following steps:
The unmanned plane is directed to wait the top airspace for shutting down library of landing, and drops to the first preset height；
The unmanned plane starts to identify the pictorial pattern in the shutdown library landing plane in the first preset height, if it is described nobody
Machine recognizes the pictorial pattern, thens follow the steps S1, step S2；
If the unmanned plane is unidentified to arrive the pictorial pattern, and low visibility of judging to land is in threshold range or from cloud
End or hangar system obtain dense fog prompt, then follow the steps A1, step A2, step A3, step A4；
If the unmanned plane cannot recognize the pictorial pattern, and judge that landing visibility is higher than threshold range, then institute
Drone flying height rising is stated, and identifies the shutdown library, the unmanned plane during flying to the center point for shutting down library
It sets mobile and starts landing, the unmanned plane, which is drop to, to be started to identify the pictorial pattern lower than the first preset height, if described
Unmanned plane recognizes the pictorial pattern, then executes the step S1, the step S2；
The step S1, the step S2 specifically:
S1: the unmanned plane identifies the head telltale mark on the airplane parking area for shutting down library, and is positioned and marked according to the head
Note adjusts the heading of the unmanned plane；
S2: the unmanned plane identifies that the level point on the airplane parking area marks, and marks and land towards the level point；
The step A1, the step A2, the step A3, the step A4 specifically:
A1: the unmanned plane opens infrared markers identification module；
A2: the infrared identification module identifies the infrared location feature pattern on the airplane parking area, the infrared location feature figure
Case includes landing guiding infrared markers information and the infrared location information of auxiliary；
A3: the unmanned plane adjusts the heading of the unmanned plane according to the infrared location feature pattern；
A4: the unmanned plane executes landing referring to the infrared location information of auxiliary.
2. the cross-domain shutdown library landing method of unmanned plane according to claim 1, which is characterized in that the unmanned plane during flying is high
Degree rises, and during identifying the shutdown library, if the unmanned plane rises to the second preset height and do not recognize institute yet
It states and shuts down library, then the unmanned plane looks for home and lands, and sends landing warning information to cloud.
3. the cross-domain shutdown library landing method of unmanned plane according to claim 1, which is characterized in that the infrared location feature
Pattern includes infrared oriented array, and the infrared oriented array includes landing guiding infrared markers point and the infrared positioning of auxiliary
Point, the landing guiding infrared markers information include the landing guiding infrared markers point, the infrared location information packet of auxiliary
Include the auxiliary infrared positioning point.
4. the cross-domain shutdown library landing method of unmanned plane according to claim 3, which is characterized in that the unmanned plane is according to institute
The heading that infrared location feature pattern adjusts the unmanned plane is stated to specifically include:
B1: the unmanned plane shoots the picture of the infrared oriented array, calculates the row of the infrared point of the infrared oriented array
Cloth；
B2: the head of the unmanned plane is adjusted to the row of the arrangement and the infrared point in the step B1 of the infrared point in correct situation
Cloth compares；
B3: if the comparison result in the step B2 is in error range, determining the heading adjustment of the unmanned plane just
Really；Otherwise the heading of the unmanned plane is readjusted.
5. a kind of unmanned plane landing platform, which is characterized in that the unmanned plane landing platform is equipped with head telltale mark, multiple
Level point label, direction of the head telltale mark for unmanned plane adjustment head, multiple level point labels are used
In the guidance unmanned plane landing, wherein multiple level points are marked labeled as the level point of weighted.
6. unmanned plane landing platform according to claim 5, which is characterized in that be additionally provided on the unmanned plane landing platform
Infrared location feature pattern, the infrared location feature pattern include landing guiding infrared markers information and the infrared positioning of auxiliary
Information；
Direction of the infrared location feature pattern for unmanned plane adjustment head；
The landing guiding infrared markers information is for guiding the unmanned plane to land.
7. unmanned plane landing platform according to claim 5, which is characterized in that the head telltale mark is the first pattern
Recognition unit, the level point are labeled as the second pattern recognition unit, and the size of first pattern recognition unit is greater than described
The size of second pattern recognition unit.
8. unmanned plane landing platform according to claim 5, which is characterized in that the infrared location feature pattern includes red
Outer oriented array, the infrared oriented array include landing guiding infrared markers point and auxiliary infrared positioning point, the landing
Guiding infrared markers information includes the landing guiding infrared markers point, and the infrared location information of auxiliary includes that the auxiliary is red
Outer anchor point.
9. unmanned plane landing platform according to claim 8, which is characterized in that the landing guiding infrared markers point is set to
The level point of the unmanned plane, the auxiliary infrared positioning point include at least the first auxiliary magnet, the second auxiliary magnet, and the auxiliary is red
The geometric figure constituted between outer location information and the landing guidance infrared markers point is for unmanned plane landing heading tune
It is whole.
10. unmanned plane landing platform according to claim 8, which is characterized in that the landing guides infrared markers point, institute
Stating auxiliary infrared positioning point is infrared light-emitting device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910624461.9A CN110362109A (en) | 2019-07-11 | 2019-07-11 | A kind of cross-domain shutdown library landing method of unmanned plane and landing platform |
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| CN201910624461.9A CN110362109A (en) | 2019-07-11 | 2019-07-11 | A kind of cross-domain shutdown library landing method of unmanned plane and landing platform |
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| CN111137463A (en) * | 2020-01-15 | 2020-05-12 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle landing guiding system and method, charging platform and unmanned aerial vehicle |
| CN111176331A (en) * | 2020-03-12 | 2020-05-19 | 江苏蓝鲸智慧空间研究院有限公司 | Precise landing control method for unmanned aerial vehicle |
| CN112078814A (en) * | 2020-09-24 | 2020-12-15 | 广州市港航工程研究所 | Unmanned aerial vehicle start-stop control method, system, equipment and storage medium |
| CN112764431A (en) * | 2021-04-08 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
| CN112947524A (en) * | 2021-03-09 | 2021-06-11 | 广东鸿源智能科技有限公司 | Precise landing control method for unmanned aerial vehicle |
| CN112965513A (en) * | 2020-11-11 | 2021-06-15 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle landing control method and system, storage medium and electronic equipment |
| CN113759940A (en) * | 2020-10-09 | 2021-12-07 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle landing method and device, unmanned aerial vehicle system, airport, equipment and medium |
| CN114993261A (en) * | 2021-02-26 | 2022-09-02 | 中国科学院宁波材料技术与工程研究所 | Unmanned autonomous obstacle avoidance space detection system and method |
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| CN116700354A (en) * | 2023-08-01 | 2023-09-05 | 众芯汉创(江苏)科技有限公司 | Spatial position checking and judging method based on visible light data |
| TWI816240B (en) * | 2021-11-29 | 2023-09-21 | 奧榮科技股份有限公司 | Automatic landing platform device for unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111137463A (en) * | 2020-01-15 | 2020-05-12 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle landing guiding system and method, charging platform and unmanned aerial vehicle |
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| CN113759940A (en) * | 2020-10-09 | 2021-12-07 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle landing method and device, unmanned aerial vehicle system, airport, equipment and medium |
| CN112965513A (en) * | 2020-11-11 | 2021-06-15 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle landing control method and system, storage medium and electronic equipment |
| CN114993261A (en) * | 2021-02-26 | 2022-09-02 | 中国科学院宁波材料技术与工程研究所 | Unmanned autonomous obstacle avoidance space detection system and method |
| CN112947524A (en) * | 2021-03-09 | 2021-06-11 | 广东鸿源智能科技有限公司 | Precise landing control method for unmanned aerial vehicle |
| WO2022206562A1 (en) * | 2021-03-29 | 2022-10-06 | 苏州臻迪智能科技有限公司 | Method for controlling unmanned aerial vehicle to return to hangar, unmanned aerial vehicle hangar, and auxiliary storage device |
| CN112764431A (en) * | 2021-04-08 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
| CN112764431B (en) * | 2021-04-08 | 2021-07-06 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
| TWI816240B (en) * | 2021-11-29 | 2023-09-21 | 奧榮科技股份有限公司 | Automatic landing platform device for unmanned aerial vehicle |
| CN116700354A (en) * | 2023-08-01 | 2023-09-05 | 众芯汉创(江苏)科技有限公司 | Spatial position checking and judging method based on visible light data |
| CN116700354B (en) * | 2023-08-01 | 2023-10-17 | 众芯汉创(江苏)科技有限公司 | Spatial position checking and judging method based on visible light data |
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Application publication date: 20191022 |